/**************************************************************************** * apps/examples/foc/foc_motor_f32.h * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you under the Apache License, Version 2.0 (the * "License"); you may not use this file except in compliance with the * License. You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations * under the License. * ****************************************************************************/ #ifndef __APPS_EXAMPLES_FOC_FOC_MOTOR_F32_H #define __APPS_EXAMPLES_FOC_FOC_MOTOR_F32_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include "foc_mq.h" #include "foc_thr.h" #include "industry/foc/float/foc_handler.h" #include "industry/foc/float/foc_ramp.h" #include "industry/foc/float/foc_angle.h" #include "industry/foc/float/foc_velocity.h" #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN # include "industry/foc/float/foc_align.h" #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT # include "industry/foc/float/foc_ident.h" #endif #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM # include "industry/foc/float/foc_model.h" #endif /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /**************************************************************************** * Public Type Definition ****************************************************************************/ /* FOC setpoint (float32) */ struct foc_setpoint_f32_s { float set; float now; float des; }; /* FOC motor data (float32) */ struct foc_motor_f32_s { /* App data ***************************************************************/ FAR struct foc_ctrl_env_s *envp; /* Thread env */ struct foc_mq_s mq; /* MQ data */ bool fault; /* Fault flag */ bool startstop; /* Start/stop request */ int ctrl_state; /* Controller state */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN int foc_mode_run; /* FOC mode for run state */ #endif /* FOC data ***************************************************************/ struct foc_state_f32_s foc_state; /* FOC controller sate */ #ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 struct svm3_state_f32_s mod_state; /* Modulation state */ #endif foc_handler_f32_t handler; /* FOC controller */ dq_frame_f32_t dq_ref; /* DQ reference */ dq_frame_f32_t vdq_comp; /* DQ voltage compensation */ int foc_mode; /* FOC mode */ int time; /* Helper counter */ float vbus; /* Power bus voltage */ float per; /* Controller period in seconds */ float iphase_adc; /* Iphase ADC scaling factor */ float pwm_duty_max; /* PWM duty max */ #ifdef CONFIG_EXAMPLES_FOC_ANGOBS float ol_thr; /* Angle observer threshold velocity */ float ol_hys; /* Angle observer hysteresis */ #endif /* Velocity controller data ***********************************************/ struct foc_ramp_f32_s ramp; /* Velocity ramp data */ #ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI pid_controller_f32_t vel_pi; /* Velocity controller */ #endif /* Angle state ************************************************************/ float angle_now; /* Phase angle now */ float angle_m; /* Motor mechanical angle */ float angle_el; /* Motor electrical angle */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP float angle_ol; /* Phase angle open-loop */ #endif #ifdef CONFIG_EXAMPLES_FOC_ANGOBS float angle_obs; /* Angle observer output */ float angle_err; /* Open-loop to observer error */ float angle_step; /* Open-loop transition step */ #endif /* Velocity state *********************************************************/ #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL float vel_el; /* Velocity - electrical */ float vel_mech; /* Velocity - mechanical */ float vel_filter; /* Velocity low-pass filter */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELOBS float vel_obs; /* Velocity observer output */ #endif /* Motor setpoints ********************************************************/ #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ struct foc_setpoint_f32_s torq; /* Torque setpoint */ float torq_sat; /* Torque saturation */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL struct foc_setpoint_f32_s vel; /* Velocity setpoint */ float vel_sat; /* Velocity saturation */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS struct foc_setpoint_f32_s pos; /* Position setpoint */ #endif float dir; /* Motor's direction */ /* Motor routines *********************************************************/ #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN struct foc_routine_f32_s align; /* Alignment routine */ bool align_done; /* Motor alignment done */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT struct foc_routine_f32_s ident; /* Motor ident routine */ struct motor_phy_params_f32_s phy_ident; /* Motor phy from ident */ bool ident_done; /* Motor ident done */ #endif /* Motor data *************************************************************/ #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM struct foc_model_f32_s model; /* Model handler */ struct foc_model_state_f32_s model_state; /* PMSM model state */ #endif struct motor_phy_params_f32_s phy; /* Motor phy */ /* Motor velocity and angle handlers **************************************/ #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP foc_angle_f32_t openloop; /* Open-loop angle handler */ uint8_t openloop_now; /* Open-loop now */ float openloop_q; /* Open-loop Q parameter */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL foc_angle_f32_t hall; /* Hall angle handler */ char hldpath[32]; /* Hall devpath */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO foc_angle_f32_t qenco; /* Qenco angle handler */ char qedpath[32]; /* Qenco devpath */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV foc_velocity_f32_t vel_div; /* DIV velocity observer */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL foc_velocity_f32_t vel_pll; /* PLL velocity observer */ #endif #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_SMO foc_angle_f32_t ang_smo; /* SMO angle observer */ #endif #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO foc_angle_f32_t ang_nfo; /* NFO angle observer */ #endif }; /**************************************************************************** * Public Data ****************************************************************************/ /**************************************************************************** * Public Function Prototypes ****************************************************************************/ int foc_motor_init(FAR struct foc_motor_f32_s *motor, FAR struct foc_ctrl_env_s *envp); int foc_motor_deinit(FAR struct foc_motor_f32_s *motor); int foc_motor_get(FAR struct foc_motor_f32_s *motor); int foc_motor_control(FAR struct foc_motor_f32_s *motor); int foc_motor_handle(FAR struct foc_motor_f32_s *motor, FAR struct foc_mq_s *handle); #endif /* __APPS_EXAMPLES_FOC_FOC_MOTOR_F32_H */